controller.cpp

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#include <ctrl/controller.hpp>
#include <QPointF>

/* Handle new state of the robot.
 * Parameter state  the new state of the robot, from odometry.
 * This method can be overwritten by inheritors.
 */
void Controller::newState(const State& state) {
  static State last_state(state); 
  // new update: moved of 1 cm or .1 second elapsed
  if ( (state.configuration().position()
        .sqrDist( last_state.configuration().position() ) > 0.0001)
       || (state.date() - last_state.date() > .1)
       || firstOdometry() ) { 
    // signal the GUI for state display (replace logging)
    stateUpdated(state);  // send for display
    last_state = state;
    if ( firstOdometry() )    // if first odometry data,
      changeFirstOdometry();  // not any more
  } // end of if (new update)
} // end of void Controller::newOdometry(const Odometry::ConstPtr&) --